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🔧 Refactor STEP pin state
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@thinkyhead
thinkyhead committed Feb 24, 2023
1 parent 464dead commit 47c98d0
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Showing 4 changed files with 69 additions and 59 deletions.
22 changes: 11 additions & 11 deletions Marlin/Configuration_adv.h
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Original file line number Diff line number Diff line change
Expand Up @@ -1104,17 +1104,17 @@
// Add a Duplicate option for well-separated conjoined nozzles
//#define MULTI_NOZZLE_DUPLICATION

// By default pololu step drivers require an active high signal. However, some high power drivers require an active low signal as step.
#define INVERT_X_STEP_PIN false
#define INVERT_Y_STEP_PIN false
#define INVERT_Z_STEP_PIN false
#define INVERT_I_STEP_PIN false
#define INVERT_J_STEP_PIN false
#define INVERT_K_STEP_PIN false
#define INVERT_U_STEP_PIN false
#define INVERT_V_STEP_PIN false
#define INVERT_W_STEP_PIN false
#define INVERT_E_STEP_PIN false
// By default stepper drivers require an active-HIGH signal but some high-power drivers require an active-LOW signal to step.
#define STEP_STATE_X HIGH
#define STEP_STATE_Y HIGH
#define STEP_STATE_Z HIGH
#define STEP_STATE_I HIGH
#define STEP_STATE_J HIGH
#define STEP_STATE_K HIGH
#define STEP_STATE_U HIGH
#define STEP_STATE_V HIGH
#define STEP_STATE_W HIGH
#define STEP_STATE_E HIGH

/**
* Idle Stepper Shutdown
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8 changes: 8 additions & 0 deletions Marlin/src/inc/Conditionals_adv.h
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Original file line number Diff line number Diff line change
Expand Up @@ -99,6 +99,7 @@
#undef SHAPING_BUFFER_Y
#undef SHAPING_FREQ_Y
#undef STEALTHCHOP_Y
#undef STEP_STATE_Y
#endif

#if !HAS_Z_AXIS
Expand All @@ -112,6 +113,7 @@
#undef NUM_Z_STEPPERS
#undef SAFE_BED_LEVELING_START_Z
#undef STEALTHCHOP_Z
#undef STEP_STATE_Z
#undef Z_IDLE_HEIGHT
#undef Z_PROBE_SLED
#undef Z_SAFE_HOMING
Expand All @@ -123,6 +125,7 @@
#undef DISABLE_INACTIVE_I
#undef SAFE_BED_LEVELING_START_I
#undef STEALTHCHOP_I
#undef STEP_STATE_I
#endif

#if !HAS_J_AXIS
Expand All @@ -131,6 +134,7 @@
#undef DISABLE_INACTIVE_J
#undef SAFE_BED_LEVELING_START_J
#undef STEALTHCHOP_J
#undef STEP_STATE_J
#endif

#if !HAS_K_AXIS
Expand All @@ -139,6 +143,7 @@
#undef DISABLE_INACTIVE_K
#undef SAFE_BED_LEVELING_START_K
#undef STEALTHCHOP_K
#undef STEP_STATE_K
#endif

#if !HAS_U_AXIS
Expand All @@ -147,6 +152,7 @@
#undef DISABLE_INACTIVE_U
#undef SAFE_BED_LEVELING_START_U
#undef STEALTHCHOP_U
#undef STEP_STATE_U
#endif

#if !HAS_V_AXIS
Expand All @@ -155,6 +161,7 @@
#undef DISABLE_INACTIVE_V
#undef SAFE_BED_LEVELING_START_V
#undef STEALTHCHOP_V
#undef STEP_STATE_V
#endif

#if !HAS_W_AXIS
Expand All @@ -163,6 +170,7 @@
#undef DISABLE_INACTIVE_W
#undef SAFE_BED_LEVELING_START_W
#undef STEALTHCHOP_W
#undef STEP_STATE_W
#endif

// Disallowed with no extruders
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2 changes: 2 additions & 0 deletions Marlin/src/inc/SanityCheck.h
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Original file line number Diff line number Diff line change
Expand Up @@ -674,6 +674,8 @@
#error "BABYSTEP_ZPROBE_GFX_OVERLAY is now BABYSTEP_GFX_OVERLAY."
#elif defined(DISABLE_INACTIVE_E)
#error "DISABLE_INACTIVE_E is now set with DISABLE_INACTIVE_EXTRUDER."
#elif defined(INVERT_X_STEP_PIN) || defined(INVERT_Y_STEP_PIN) || defined(INVERT_Z_STEP_PIN) || defined(INVERT_I_STEP_PIN) || defined(INVERT_J_STEP_PIN) || defined(INVERT_K_STEP_PIN) || defined(INVERT_U_STEP_PIN) || defined(INVERT_V_STEP_PIN) || defined(INVERT_W_STEP_PIN) || defined(INVERT_E_STEP_PIN)
#error "INVERT_*_STEP_PIN true is now STEP_STATE_* LOW, and INVERT_*_STEP_PIN false is now STEP_STATE_* HIGH."
#endif

// L64xx stepper drivers have been removed
Expand Down
96 changes: 48 additions & 48 deletions Marlin/src/module/stepper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1664,7 +1664,7 @@ void Stepper::pulse_phase_isr() {

do {
#define _APPLY_STEP(AXIS, INV, ALWAYS) AXIS ##_APPLY_STEP(INV, ALWAYS)
#define _INVERT_STEP_PIN(AXIS) INVERT_## AXIS ##_STEP_PIN
#define _STEP_STATE(AXIS) STEP_STATE_## AXIS

// Determine if a pulse is needed using Bresenham
#define PULSE_PREP(AXIS) do{ \
Expand Down Expand Up @@ -1714,14 +1714,14 @@ void Stepper::pulse_phase_isr() {
#define PULSE_START(AXIS) do{ \
if (step_needed[_AXIS(AXIS)]) { \
count_position[_AXIS(AXIS)] += count_direction[_AXIS(AXIS)]; \
_APPLY_STEP(AXIS, !_INVERT_STEP_PIN(AXIS), 0); \
_APPLY_STEP(AXIS, _STEP_STATE(AXIS), 0); \
} \
}while(0)

// Stop an active pulse if needed
#define PULSE_STOP(AXIS) do { \
if (step_needed[_AXIS(AXIS)]) { \
_APPLY_STEP(AXIS, _INVERT_STEP_PIN(AXIS), 0); \
_APPLY_STEP(AXIS, !_STEP_STATE(AXIS), 0); \
} \
}while(0)

Expand Down Expand Up @@ -1933,7 +1933,7 @@ void Stepper::pulse_phase_isr() {
#if ENABLED(MIXING_EXTRUDER)
if (step_needed.e) {
count_position[E_AXIS] += count_direction[E_AXIS];
E_STEP_WRITE(mixer.get_next_stepper(), !INVERT_E_STEP_PIN);
E_STEP_WRITE(mixer.get_next_stepper(), STEP_STATE_E);
}
#elif HAS_E0_STEP
PULSE_START(E);
Expand Down Expand Up @@ -1977,7 +1977,7 @@ void Stepper::pulse_phase_isr() {
#endif

#if ENABLED(MIXING_EXTRUDER)
if (step_needed.e) E_STEP_WRITE(mixer.get_stepper(), INVERT_E_STEP_PIN);
if (step_needed.e) E_STEP_WRITE(mixer.get_stepper(), !STEP_STATE_E);
#elif HAS_E0_STEP
PULSE_STOP(E);
#endif
Expand Down Expand Up @@ -2638,7 +2638,7 @@ uint32_t Stepper::block_phase_isr() {
la_delta_error -= advance_divisor;

// Set the STEP pulse ON
E_STEP_WRITE(TERN(MIXING_EXTRUDER, mixer.get_next_stepper(), stepper_extruder), !INVERT_E_STEP_PIN);
E_STEP_WRITE(TERN(MIXING_EXTRUDER, mixer.get_next_stepper(), stepper_extruder), STEP_STATE_E);
}

TERN_(I2S_STEPPER_STREAM, i2s_push_sample());
Expand All @@ -2652,7 +2652,7 @@ uint32_t Stepper::block_phase_isr() {
#endif

// Set the STEP pulse OFF
E_STEP_WRITE(TERN(MIXING_EXTRUDER, mixer.get_stepper(), stepper_extruder), INVERT_E_STEP_PIN);
E_STEP_WRITE(TERN(MIXING_EXTRUDER, mixer.get_stepper(), stepper_extruder), !STEP_STATE_E);
}
}

Expand Down Expand Up @@ -2906,7 +2906,7 @@ void Stepper::init() {

#define AXIS_INIT(AXIS, PIN) \
_STEP_INIT(AXIS); \
_WRITE_STEP(AXIS, _INVERT_STEP_PIN(PIN)); \
_WRITE_STEP(AXIS, !_STEP_STATE(PIN)); \
_DISABLE_AXIS(AXIS)

#define E_AXIS_INIT(NUM) AXIS_INIT(E## NUM, E)
Expand All @@ -2915,31 +2915,31 @@ void Stepper::init() {
#if HAS_X_STEP
#if HAS_X2_STEPPER
X2_STEP_INIT();
X2_STEP_WRITE(INVERT_X_STEP_PIN);
X2_STEP_WRITE(!STEP_STATE_X);
#endif
AXIS_INIT(X, X);
#endif

#if HAS_Y_STEP
#if HAS_DUAL_Y_STEPPERS
Y2_STEP_INIT();
Y2_STEP_WRITE(INVERT_Y_STEP_PIN);
Y2_STEP_WRITE(!STEP_STATE_Y);
#endif
AXIS_INIT(Y, Y);
#endif

#if HAS_Z_STEP
#if NUM_Z_STEPPERS >= 2
Z2_STEP_INIT();
Z2_STEP_WRITE(INVERT_Z_STEP_PIN);
Z2_STEP_WRITE(!STEP_STATE_Z);
#endif
#if NUM_Z_STEPPERS >= 3
Z3_STEP_INIT();
Z3_STEP_WRITE(INVERT_Z_STEP_PIN);
Z3_STEP_WRITE(!STEP_STATE_Z);
#endif
#if NUM_Z_STEPPERS >= 4
Z4_STEP_INIT();
Z4_STEP_WRITE(INVERT_Z_STEP_PIN);
Z4_STEP_WRITE(!STEP_STATE_Z);
#endif
AXIS_INIT(Z, Z);
#endif
Expand Down Expand Up @@ -3338,19 +3338,19 @@ void Stepper::report_positions() {

#if DISABLED(DELTA)

#define BABYSTEP_AXIS(AXIS, INV, DIR) do{ \
const uint8_t old_dir = _READ_DIR(AXIS); \
_ENABLE_AXIS(AXIS); \
DIR_WAIT_BEFORE(); \
_APPLY_DIR(AXIS, _INVERT_DIR(AXIS)^DIR^INV); \
DIR_WAIT_AFTER(); \
_SAVE_START(); \
_APPLY_STEP(AXIS, !_INVERT_STEP_PIN(AXIS), true); \
_PULSE_WAIT(); \
_APPLY_STEP(AXIS, _INVERT_STEP_PIN(AXIS), true); \
EXTRA_DIR_WAIT_BEFORE(); \
_APPLY_DIR(AXIS, old_dir); \
EXTRA_DIR_WAIT_AFTER(); \
#define BABYSTEP_AXIS(AXIS, INV, DIR) do{ \
const uint8_t old_dir = _READ_DIR(AXIS); \
_ENABLE_AXIS(AXIS); \
DIR_WAIT_BEFORE(); \
_APPLY_DIR(AXIS, _INVERT_DIR(AXIS)^DIR^INV); \
DIR_WAIT_AFTER(); \
_SAVE_START(); \
_APPLY_STEP(AXIS, _STEP_STATE(AXIS), true); \
_PULSE_WAIT(); \
_APPLY_STEP(AXIS, !_STEP_STATE(AXIS), true); \
EXTRA_DIR_WAIT_BEFORE(); \
_APPLY_DIR(AXIS, old_dir); \
EXTRA_DIR_WAIT_AFTER(); \
}while(0)

#endif
Expand All @@ -3365,11 +3365,11 @@ void Stepper::report_positions() {
_APPLY_DIR(B, _INVERT_DIR(B)^DIR^INV^ALT); \
DIR_WAIT_AFTER(); \
_SAVE_START(); \
_APPLY_STEP(A, !_INVERT_STEP_PIN(A), true); \
_APPLY_STEP(B, !_INVERT_STEP_PIN(B), true); \
_APPLY_STEP(A, _STEP_STATE(A), true); \
_APPLY_STEP(B, _STEP_STATE(B), true); \
_PULSE_WAIT(); \
_APPLY_STEP(A, _INVERT_STEP_PIN(A), true); \
_APPLY_STEP(B, _INVERT_STEP_PIN(B), true); \
_APPLY_STEP(A, !_STEP_STATE(A), true); \
_APPLY_STEP(B, !_STEP_STATE(B), true); \
EXTRA_DIR_WAIT_BEFORE(); \
_APPLY_DIR(A, old_dir.a); _APPLY_DIR(B, old_dir.b); \
EXTRA_DIR_WAIT_AFTER(); \
Expand Down Expand Up @@ -3466,58 +3466,58 @@ void Stepper::report_positions() {

_SAVE_START();

X_STEP_WRITE(!INVERT_X_STEP_PIN);
X_STEP_WRITE(STEP_STATE_X);
#ifdef Y_STEP_WRITE
Y_STEP_WRITE(!INVERT_Y_STEP_PIN);
Y_STEP_WRITE(STEP_STATE_Y);
#endif
#ifdef Z_STEP_WRITE
Z_STEP_WRITE(!INVERT_Z_STEP_PIN);
Z_STEP_WRITE(STEP_STATE_Z);
#endif
#ifdef I_STEP_WRITE
I_STEP_WRITE(!INVERT_I_STEP_PIN);
I_STEP_WRITE(STEP_STATE_I);
#endif
#ifdef J_STEP_WRITE
J_STEP_WRITE(!INVERT_J_STEP_PIN);
J_STEP_WRITE(STEP_STATE_J);
#endif
#ifdef K_STEP_WRITE
K_STEP_WRITE(!INVERT_K_STEP_PIN);
K_STEP_WRITE(STEP_STATE_K);
#endif
#ifdef U_STEP_WRITE
U_STEP_WRITE(!INVERT_U_STEP_PIN);
U_STEP_WRITE(STEP_STATE_U);
#endif
#ifdef V_STEP_WRITE
V_STEP_WRITE(!INVERT_V_STEP_PIN);
V_STEP_WRITE(STEP_STATE_V);
#endif
#ifdef W_STEP_WRITE
W_STEP_WRITE(!INVERT_W_STEP_PIN);
W_STEP_WRITE(STEP_STATE_W);
#endif

_PULSE_WAIT();

X_STEP_WRITE(INVERT_X_STEP_PIN);
X_STEP_WRITE(!STEP_STATE_X);
#ifdef Y_STEP_WRITE
Y_STEP_WRITE(INVERT_Y_STEP_PIN);
Y_STEP_WRITE(!STEP_STATE_Y);
#endif
#ifdef Z_STEP_WRITE
Z_STEP_WRITE(INVERT_Z_STEP_PIN);
Z_STEP_WRITE(!STEP_STATE_Z);
#endif
#ifdef I_STEP_WRITE
I_STEP_WRITE(INVERT_I_STEP_PIN);
I_STEP_WRITE(!STEP_STATE_I);
#endif
#ifdef J_STEP_WRITE
J_STEP_WRITE(INVERT_J_STEP_PIN);
J_STEP_WRITE(!STEP_STATE_J);
#endif
#ifdef K_STEP_WRITE
K_STEP_WRITE(INVERT_K_STEP_PIN);
K_STEP_WRITE(!STEP_STATE_K);
#endif
#ifdef U_STEP_WRITE
U_STEP_WRITE(INVERT_U_STEP_PIN);
U_STEP_WRITE(!STEP_STATE_U);
#endif
#ifdef V_STEP_WRITE
V_STEP_WRITE(INVERT_V_STEP_PIN);
V_STEP_WRITE(!STEP_STATE_V);
#endif
#ifdef W_STEP_WRITE
W_STEP_WRITE(INVERT_W_STEP_PIN);
W_STEP_WRITE(!STEP_STATE_W);
#endif

// Restore direction bits
Expand Down

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